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Conference Papers Year : 2002

Motion Planning of Cooperative Nonholonomic Mobile Manipulators

Abstract

We deal with the cooperation problem of two nonholomic mobile manipulators. We propose a leader-follower architecture for implementing robot coordination and a control algorithm for motion planning and force control. The Deformable Virtual Zone (DVZ) method is proposed to resolve the problem through the reflex action theory. The formulation of the DVZ principle is given and an extension to the mobile manipulator tasks is detailed.

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Dates and versions

lirmm-00268670 , version 1 (01-04-2008)

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Jérôme Albaric, René Zapata. Motion Planning of Cooperative Nonholonomic Mobile Manipulators. SMC: Systems, Man and Cybernetics, Oct 2002, Hammamet, Tunisia. ⟨10.1109/ICSMC.2002.1175608⟩. ⟨lirmm-00268670⟩
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